ABSTRACT The robotics literature of the last two decades contains many important advances in control flexible joint robots. This is a survey these and an assessment for future developments, concentrated mostly on issues

Advancements in automation technology have led to the increased utilization of industrial robots manufacturing processes. Trajectory planning, which is crucial robotics, involves designing smooth trajectories that adhere constraints. planning methods can be classified as either kinematic or dynamic, with dynamic models providing improved capacity but requiring greater complexity. Given need for efficient real-time implementation low computational demands, method indispensable. The challenge...

In this article, a novel data-driven sliding mode controller for single-input single-output nonlinear system is designed from new perspective. The proposed model-free, that is, it based on just input and output data. Therefore, suitable systems with unknown models. approach to design the an optimization procedure. First, linear regression estimation assumed exist behavior. Then optimal estimated model. cost function in way minimization of it, could guarantee its first derivative converge...

Abstract A new robust adaptive control method is proposed, which removes the deficiencies of classic multiple model (RMMAC) using benefits ν‐gap metric. First, RMMAC design procedure cannot be used for systematic unstable plants because it uses Baram Proximity Measure, calculated open‐loop plants. Next, %FNARC as a approach subdividing uncertainty set makes structure being always companion with µ‐synthesis method. Then in case two or more uncertain parameters, definition based on cumbersome...

In this paper a model free sliding mode controller (SMC) based on novel reaching law for SISO nonlinear systems is provided. The novelty of the work lies in approach used to achieve law. proposed more general than those recent works. Naturally, it consistent with control law, which composed an optimal term and exponential switching term. A proper cost function forces variable its derivative vanish. part consists term, decreases quasi-sliding domain. It shown analytically that enters remains...

Abstract This research focuses on designing a real-time, flexible gait planner for lower limb exoskeleton robots to assist patients with disabilities. Given the dynamic nature of parameters, which vary according ground conditions and user intent, challenge lies in developing capable adapting these changes real-time. To avoid planning complications cartesian space comply speed constraints joint motors, this paper proposes space. Furthermore, approach also considers maximum capabilities aiming...

In this paper it is shown that the widely used lognormal path loss signal propagation model may not be a good choice for every indoor environment. Instead, non-monotonic an environment presented. This model, combined with received strength values, relative distance and directional information can exhibit several applications. As example, access point position estimation studied in algorithm proposed purpose. It using distance, arbitrary reference point, possible to find location of points....

Identification of those genes which cause diseases can develop the process diagnosis and treatment diseases. In this paper, a gene selection method based on genetic algorithm (GA) support vector machines (SVM) is presented. At first, Fisher criteria utilized in order to do filtration for are noisy redundant high dimensional microarray data. Then, GA/SVM model used various subsets maximally informative with use different training sets. The frequency appearance each analyzed. Therefore, last...

In this paper, a model-free high-order terminal sliding mode controller (TSMC) is developed for single input–single output Lipschitz nonlinear systems in presence of external disturbances. The proposed method data-driven, i.e. it based on online input and information. another word, the not model-based can be applied to with unknown dynamics. employs switching surface mitigate chattering problem. disturbance estimation technique also overcome Rigorous theoretical analysis carried out verify...

This paper considers the robust stability of uncertain teleoperation systems. Sufficient conditions are derived in terms LMI by representing scheme retarded form time-delay By choosing Lyapunov-Krasovski functional, a delay-independent criterion is presented. We show that system stable and has good performance under specific condition. With given controller parameters, guaranteed presence any value delay admissible uncertainty. To evaluate theoretical analysis, Numerical simulations performed.

A principled approach to modeling sociocognitive networks is fundamental understanding the network interrelations which in turn can be used many applications such as human behavior analysis or team performance assessment. More specifically, opinion domain, learning cognitive links and making a proper model for causal relationships between individuals necessary both control purposes. There are several mathematical models dynamics. However, few of them have been tested consistent with...

In this paper, chaotic analysis of the human brain cortical model is presented. Based on these analysis, controlling epileptic seizures, using a robust control method considered. To end we have utilized mathematical tissue activity. Chaotic behavior investigated through variations pathological parameters. Utilization two criteria known as entropy and largest Lyapunov exponents allowed us to monitor during reasearch. Moreover, both conniption ending time seizures are determined analysis. The...

Identifying genes underlying complex diseases/traits that generally involve multiple etiological mechanisms and contributing is difficult. Although microarray technology has enabled researchers to investigate gene expression changes, but identifying pathobiologically relevant remains a challenge. To address this challenge, we apply new method for selecting the disease-relevant from published dataset. The approach comprised of combination fisher criteria, SAM (Significance Analysis...

In this paper, the problem of controlling chaos in Arneodo chaotic system is considered for first time. Three different methods, feedback linearization, backstepping design and sliding mode control, are used to suppress regulate around one its unstable equilibrium points. Simulation results show that all these three methods efficient. We may also make robust model uncertainties external disturbances by applying approach.

In this paper a new linear state feedback controller for artificial pancreas is proposed to regulate the blood glucose level in diabetic patients. Diabetes mellitus family of chronic metabolic diseases which body's regulatory system doesn't function properly. study, Bergman's minimal model has been used as base model, reformulate dynamics insulin and concentrations blood's plasma constrained polynomial dynamical system. Since it hard derive exact value parameters most biological systems, all...